There is never any remote driving involved. That would be dangerous. The current state of Tesla's "remote control" consists of a ghetto V2V hack to move the Killswitch to the chase car. How many years do you think it took to develop the remote decision-support Waymo has got? The second paragraph of the article you linked to explains this:

> Much like phone-a-friend, when the Waymo vehicle encounters a particular situation on the road, the autonomous driver can reach out to a human fleet response agent for additional information to contextualize its environment. The Waymo Driver does not rely solely on the inputs it receives from the fleet response agent and it is in control of the vehicle at all times. As the Waymo Driver waits for input from fleet response, and even after receiving it, the Waymo Driver continues using available information to inform its decisions. This is important because, given the dynamic conditions on the road, the environment around the car can change, which either remedies the situation or influences how the Waymo Driver should proceed. In fact, the vast majority of such situations are resolved, without assistance, by the Waymo Driver.